Test firmware commands

The commands the test firmware (PAROL6 control board test code) acts on: # followed by the name, case as written, and a line feed (a terminal that sends only a carriage return gets no answer). None takes an argument. The test firmware in the Control Board Manual shows the output.

The motors turn from power-on

The test firmware turns all six motors slowly from the moment it boots until the power is switched off; no command stops them.

Command	What it does
#IO	Prints, once a second, the E-stop input, input 1, input 2 and the supply voltage in mV
#LIMIT	Prints, once a second, Joint N is pressed for every triggered limit switch
#STOP	Ends the #IO or #LIMIT printout; the motors keep turning
#start	Toggles the two LEDs

The parser (SerialPacketParser.cpp) also recognises STATUS, STEP1 to STEP6, INPUT, ESTOP, OUT1TOGGLE, OUT2TOGGLE, LED1TOGGLE, LED2TOGGLE, SUPPLYV, ONOFF, CAN and FLASH, but main.cpp has no action for them (the FLASH test is commented out): each is answered with Unknown command. The driver report (joint N Connection is: GOOD or BAD, the currents and fault flags) is printed once, about three seconds after power-on, not on a command.

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